US3920950A - Welding machine with a disassemblable column - Google Patents

Welding machine with a disassemblable column Download PDF

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Publication number
US3920950A
US3920950A US465684A US46568474A US3920950A US 3920950 A US3920950 A US 3920950A US 465684 A US465684 A US 465684A US 46568474 A US46568474 A US 46568474A US 3920950 A US3920950 A US 3920950A
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US
United States
Prior art keywords
unit
connection
connection means
column
members
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Expired - Lifetime
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US465684A
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English (en)
Inventor
Luigi Caprioglio
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SIV DELTIX SpA
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SIV DELTIX SpA
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/318—Supporting devices for electrode holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions

Definitions

  • B23K 9/28; B23K 11/10 unit of Operative members which has an elongated [58] Field 61 Search 219/69 E, 69 R, 88, 89, Shape and can be inserted from the bottom into the 219/90, 124, 125 R, 125 PL Column; connection means are provided on the column and the insertable unit for automatically estab- 56 References Cited lishing electrical and fluidical connections as a conse- UNITED STATES PATENTS quence of the mechanical connection of the members.
  • the object of this invention isto attain a reduction of the stop times by providing a rapid disassembly and an equally rapid reassembly onto the machine of those members which are most subject to failure and wear, with the possibility of rapidly replacing portions of the machine which include the damaged members with interchangeable reserve portions so as to reduce to a minimum the stop times also when the damages incurred are relatively serious and require operations of long duration for the repair or replacement of the damaged members.
  • the support column which supports the welding guns is made in the form of an elongated shell, all the operative members located inside the column constitute a unit together with the welding gun support, said unit being insertable into and removable from the shell by shifting the unit along the longitudinal direction of the column, and between members fixedly connected to said shell and the unit comprising the operative members there are disposed means of rapid connection which are arranged to automatically establish the required electrical and fluidical connections as a consequence of the mechanical connection.
  • each welding gun preferably is a part of an assembly including means for shifting the welding gun and forits actuation, said assembly being mountable and demountable, with respect to the welding gun support carried by said unit of operative members, between said support and said assembly or each of said assemblies there being provided means of rapid connection which are arranged to automatically establish the required electrical and fluidical connections as a consequence of the mechanical connection.
  • the damaged member may be readily removed, thereby automatically disconnecting the electrical and fluidical connections between said member and the welding machine, then repaired (if such operation does not require a long time) or replaced by a corresponding inter- 2 changeable member, then placed in position again, thereby automatically re-establishing also the electrical and fluidical connections, so that the welding machine and the processing line are ready to be operated again after a stopping time reduced to the minimum possible duration.
  • FIG. 1 is a view of a portion of the welding gun bearing column of a welding machine, with the carriage which supports said column,
  • FIG. 2 is a cross-sectional view of the shell of the column, with the guiding and driving means for the longitudinal movement,
  • FIGS. 3a and 3b show respectively the column shell and the unit of operative members of the latter, disassembled and longitudinally aligned
  • FIG. 4 is an enlarged diametral sectional view taken at the means of electrical and fluidical connection between the members of the column, said members being shown separated but located at short distances from each other,
  • FIG. 5 is a view showing the lower portion of the column and the two welding gun assemblies, one of which is shown assembled and other disassembled, and
  • FIG. 6 is a view similar to that of FIG. 5, but showing a different embodiment of the invention.
  • FIG. 1 diagrammatically shows sup port means in the formof a pair of horizontal parallel guides A on which is supported and guided, by means of rollers E, F, a carriage B which is movable parallel to the guides A in the direction of the double arrow Y.
  • Motor means formed in this example by a threaded shaft C cooperating with a nut screw D rigidly connected to the carriage B, are provided for controlling said movement of the carriage.
  • the support formed' by the guides A, and the motor means C can be supported in any way, and can be fixed or can be in turn a part of a carriage, movable on a fixed frame along a horizontal direction X perpendicular to the direction Y.
  • the carriage B has mounted therein the column 1 of the welding machine, the longitudinal direction of said column being, in this example, directed vertically.
  • the column 1 is provided with guide tracks Zwhich extend longitudinally and cooperate with guide rollers G of the carriage B (FIG. 2), so that the column can move vertically with respect to the carriage.
  • a prismatic guide 3 of the column 1 cooperates with a race wheel H of the carriage B, thus preventing the column from any rotation about its own longitudinal vertical axis.
  • a suitable control means serves to control the vertical movements of the column 1, and said control means may be constituted, as in the example illustrated, by a rack 4 rigidly fastened to the column 1 and cooperating with a sprocket K mounted in the carriage B and connected to a motor means (not shown).
  • the column I mentioned above is made in the form of a hollow shell, practically, in the example shown, in the form of a substantially cylindrical tube.
  • a motor means 5 which through a drive 6,7 is in a position to impart a motion of rotation in the direction of the curved double arrow W, about the longitudinal axis of the column 1, to, a head 8 which is mounted on the column 1 by means of bearing 17 (FIG. 4) in such a way as to be able to rotate, but not to move axially with respect to the column.
  • the head 8 extends into the interior of the shell 1 of the column and terminates therein with a first composite connection means, briefly called in the following a connector, indicated generally by reference numeral 9, which will be described in detail later on.
  • a rotation bearing 10 preferably of the rolling type, which is provided with outer tabs 1 1 serving to fasten a plate 12 acting as a support for the welding gun assemblies and being part of the unit of operative members which will now be described.
  • the unit of the operative members of the column comprises a structure 13 which extends, in this instance vertically upwards, from the support plate 12 and terminates on its upper part with a second composite connection means, briefly called in the following a connector 14, which is arranged to couple with the connector 9 of the head 8.
  • a connector 14 which is arranged to couple with the connector 9 of the head 8.
  • At least a portion 13' of the structure 13 is hollow or of a box-type and in its interior there is mounted the feeding transformer 15 as well as the other required operative members shown diagrammatically as block 16.
  • the transverse dimensions of the structure 13 are smaller than those of the hollow of shell 1, so as to enable it to penetrate freely into the hollow shell 1, and its vertical length corresponds to the distance between the connector 9 and the tabs 11, in such a way that when the support platev 12 is bolted to the tabs 11 of the bearing the connector 14 will be correctly coupled with the connector 9. It follows that it is sufficient to introduce the unit 12-16 from below into the shell 1 and fasten it by bolts, for establishing all the necessary connections in the connectors 9 and 14; conversely, it is sufficient to release mechanically the unit of operative members for withdrawing it downwardly and removing it from the shell 1.
  • the connector 9 of the head 8 and the connector 14 of the unit 13-16 are first of all provided with mechanical coupling means consisting of a ring 18 provided with a longitudinal slit 19 and a lower rake 20, for the connector 9, and a dowel 21, or equivalent member, for the connector 14.
  • the unit of the operative members is preferably provided with a centering disc 22 whose dimensions are a little smaller than those of the cavity of the shell 1,-so that when the unit is introduced into the shell the connector 14 is substantially centered in the shell, thereby preventing the members from being damaged against the edge of the ring 20.
  • the connectors besides being provided with the described means of mechanical coupling, are also provided with fluidical, i.e., hydraulic or pneumatic or partially hydraulic and partially pneumatic coupling means for the pressurized fluid serving to effect the closure of the welding guns, and for the cooling fluid.
  • these means of fluidical coupling comprise three pipe fittings 23 projecting from the connector 9, provided with suitable sealing gaskets, and communicating with corresponding pipings 24 of the head 8, and three corresponding pipe fittings 25 in the connector 14, which are arranged to sealingly receive the pipe fittings 23' and communicate with pipes (not shown) of the unit of operative members.
  • the pipe fittings 23 and 25 are disposed such as to couple correctly when the mechanical coupling of the connectors is completed.
  • the connectors 9 and 14 besides being provided with the described mechanical and fluidical coupling means, are provided also with electrical coupling means, namely the complementary sockets 26 and 27 for the power circuit which has to feed the transformer 15, and with a certain number of complementary sockets 28 and 29 for the inspection, control and, generally, service circuits. Also these sockets are mutually aligned so as to couple correctly when the mechanical coupling of the connectors is completed.
  • the electrical sockets 26 and 28 of the connector 9 are situated at a level which is considerably higher than the level of the fluidical pipe fittings 23, so that any eventual leaks or sprays coming from the fittings are prevented from wetting and/or fouling the electrical sockets, especially at the moment of the separation of the unit of operative members from the head 8.
  • Each welding gun assembly comprises a support element 30 intended to be demountably fixed to the support plate 12 of the column.
  • a movable support 31, whose movements are controlled by a motor set 32, is pivotally connected to the support element 30 in such a way as to be able to rotate in the direction of the curved double arrow V, i.e., about an axis perpendicular to the axis of the column 1 when the assembly is in its working position.
  • a welding gun (of any type) 33 Pivotally connected to the movable support 31, in such a way as to be able to rotate in the direction of the curved double arrow U, i.e., along an axis perpendicular to the axis of rotation of the movable support 31, is a welding gun (of any type) 33, whose movements are controlled and driven by a motor set 34.
  • the combination of the movements in the directions of the arrows U, V, W, X, Y, Z enables the welding gun 33 "to act correctly on a piece to be welded, no matter how the latter is oriented in any point in space comprised within certain limits representing the range of action of the welding machine.
  • the assembly of the welding gun 30-34 is represented in FIG. as being adjacent but not fixed to the support plate 12 of the column 1, whereas said plate has fixed thereto a similar welding gun assembly whose visible members are indicated by the same reference numerals as the assembly 30-34, but accompanied by indexes in the form of zeros.
  • the support element 30 is provided, on its face directed towards the support plate 12, with a composite connection means, comprising two conductive suitably insulated parts 35 and 36 (conveniently connected, in the interior of the assembly 30-34, to the two welding plates of the welding gun 33) to which conductive parts correspond, in a complementary composite connection means of the plate 12, similar conductive and insulated parts on which rest under pressure the parts 35 and 36 of the element 30 when the latter is being fixed, for instance bolted, to the support plate 12. This allows one to establish the necessary electrical power connections.
  • a connector 37 which, in its turn, is arranged to be coupled with a complementary connector of the composite connection means of the support plate 12 in order to establish the auxiliary and service electrical connections.
  • fluid intakes disposed, for example, on the conductive part 36 (but which could be disposed on any other part of the element 30), are arranged in said connection means, to be coupled with complementary intakes of the support plate 12, in order to establish the fluidical connections which are necessary, on the one hand, for the actuation of the clamping control (hydraulic or pneumatic) of the welding gun 33, and on the other hand for the passage of the cooling fluid for said welding gun.
  • the mere mechanical coupling of the support element 30 to the support plate 12 not only brings the welding gun into operative position with respect to the column 1, but also establishes without difficulty all the electrical and fluidical connections required for the operation, thereby permitting an easy and rapid assembly and disassembly of each welding gun onto and from the machine, with the possibility of replacing the welding gun by another similar welding gun in case of failures during operation, or with a different and interchangeable welding gun in case of a passage from one type of work to another.
  • each welding gun 33 is provided with its own support element 30 and its own motor means 32, and one, two or more of these assemblies may be mounted on the support plate 12 of the column 1, according to the embodiment shown in FIG. 6 two welding guns 33', 33", mounted with their own motor means 34, 34" on their own movable supports 31, 31 are connected to a single support element 30' provided, as in the preceding embodiment, with conductive parts 35 36', electrical sockets 37 and fluid intakes 38.
  • the support plate 12 receives the connection of only one support element 30', by which are mounted and demounted all the welding guns of the column.
  • the single support ele ment 30' may contain a single motor means (not shown) arranged to control in turn, through suitable couplings, the movements of the movable supports 31 31" respectively.
  • a welding machine comprising support means, movably supported on said support means, a column, said column having the form of a hollow shell, at a first end of said hollow shell a head, said head being rotatably mounted on said shell but not axially displaceable, and in said head first connection means, at the second end of said hollow shell a bearing, said bearing being rotatably mounted on said shell but not axially displaceable, and on said bearing first mechanical coupling means, a unit inserted into said hollow shell, at a first end of said unit second connection means that couple with said first connection means of said head, and at the second end of said unit a support plate for welding guns, said support plate having second mechanical coupling means that couple with said first mechanical coupling means of said bearing, said first and second connection means comprising mechanical, electrical and fluidical connection members, and at least one welding gun connected to said'support plate, whereby upon insertion of said unit into said shell and coupling of said first and second mechanical coupling means, said first and second connection means are mutually engaged thus automatically

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Resistance Welding (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
US465684A 1973-05-25 1974-04-30 Welding machine with a disassemblable column Expired - Lifetime US3920950A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT68533/73A IT985962B (it) 1973-05-25 1973-05-25 Macchina saldatrice con colonna soomponibile

Publications (1)

Publication Number Publication Date
US3920950A true US3920950A (en) 1975-11-18

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ID=11309742

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US465684A Expired - Lifetime US3920950A (en) 1973-05-25 1974-04-30 Welding machine with a disassemblable column

Country Status (10)

Country Link
US (1) US3920950A (enrdf_load_stackoverflow)
JP (1) JPS5020954A (enrdf_load_stackoverflow)
AU (1) AU6937374A (enrdf_load_stackoverflow)
CA (1) CA1006232A (enrdf_load_stackoverflow)
DE (1) DE2338617B2 (enrdf_load_stackoverflow)
ES (1) ES425997A1 (enrdf_load_stackoverflow)
FR (1) FR2230450B1 (enrdf_load_stackoverflow)
GB (1) GB1468206A (enrdf_load_stackoverflow)
IT (1) IT985962B (enrdf_load_stackoverflow)
SE (1) SE395633B (enrdf_load_stackoverflow)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4349718A (en) * 1977-04-20 1982-09-14 Bayerische Motoren Werke A.G. Installation for the resistance-welding of structural parts
US4559438A (en) * 1982-12-24 1985-12-17 Honda Giken Kogyo Kabushiki Kaisha Welding gun apparatus
US4587394A (en) * 1982-09-16 1986-05-06 Bernard Vere Device and method of welding nuclear fuel assembly structural elements
US5811750A (en) * 1994-10-07 1998-09-22 Stola S.P.A. Device for welding motor-vehicle bodies or sub-assemblies thereof
CN106181611A (zh) * 2016-08-31 2016-12-07 无锡市德力流体科技有限公司 齿轮轴自动磨加工装备
CN108974918A (zh) * 2018-07-27 2018-12-11 江南大学 一种用于货物搬运的移动机器人

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR7800978A (pt) * 1977-02-18 1978-09-19 Elfin Spa Maquina de soldar a resistencia
FR2426548A1 (fr) * 1978-05-24 1979-12-21 Renault Robot de fabrication
US4267424A (en) * 1978-05-22 1981-05-12 Nissan Motor Company, Limited Spot welding machine for heavy-duty operations on surface contoured workpieces
DE2918668C2 (de) * 1979-05-09 1982-05-27 Daimler-Benz Ag, 7000 Stuttgart Schweißkopf für elektrische Widerstandsschweißungen
GB8506766D0 (en) * 1985-03-15 1985-04-17 Universal Machine Intelligence Linear guideway & carriage
DE3613829A1 (de) * 1986-04-24 1987-10-29 Bayerische Motoren Werke Ag Schweisszange fuer schweissroboter
FR2599290B1 (fr) * 1986-05-27 1994-07-29 Afma Robots Systeme d'orientation electro-mecanique notamment pour un poignet de robot a trois axes.
FR2642352B1 (fr) * 1989-02-01 1991-04-12 Staubli Sa Ets Dispositif pour la commande en rotation et en translation de la broche porte-outil ou porte-piece d'un robot industriel ou manipulateur
DE3910692A1 (de) * 1989-04-03 1990-10-31 Ief Werner Gmbh Linear- und dreheinheit
IT1241621B (it) * 1990-10-04 1994-01-25 Comau Spa Robot articolato
WO1993003892A1 (en) * 1991-08-23 1993-03-04 Rotech Tooling Ab Locating a transformer upon a programmable robot
DE102004017254A1 (de) * 2004-04-05 2005-10-20 Bosch Rexroth Ag Transformatorgehäuse
FR2931092B1 (fr) * 2008-05-19 2010-09-10 Commissariat Energie Atomique Bras manipulateur ayant une extremite amovible incorporant des moteurs
CN103143878B (zh) * 2013-03-26 2015-01-21 宝鸡石油钢管有限责任公司 一种五自由度可调管材对接工装
WO2019221703A1 (en) 2018-05-15 2019-11-21 Sri International Shaft couplings
CN109277746B (zh) * 2018-12-17 2021-01-12 合肥华峰暖通设备有限公司 一种能够多角度旋转的焊接机械手

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2376692A (en) * 1936-07-06 1945-05-22 Heim Gerhard Device for connecting sheet metal members
US3222494A (en) * 1963-01-09 1965-12-07 Easco Products Inc Quick-change electrodes system for spark-cutting apparatus
US3521024A (en) * 1967-06-09 1970-07-21 Scovill Manufacturing Co Welding gun
US3594537A (en) * 1968-01-31 1971-07-20 Fritz Morgenegg Angularly adjustable holder for machine-tool bits
US3594534A (en) * 1969-03-21 1971-07-20 Compak O Matic Inc Welding apparatus
US3784782A (en) * 1972-05-16 1974-01-08 M Lochen Welding gun

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA933241A (en) * 1971-03-18 1973-09-04 Roy Henri Apparatus attachable to an edm for rotating electrode

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2376692A (en) * 1936-07-06 1945-05-22 Heim Gerhard Device for connecting sheet metal members
US3222494A (en) * 1963-01-09 1965-12-07 Easco Products Inc Quick-change electrodes system for spark-cutting apparatus
US3521024A (en) * 1967-06-09 1970-07-21 Scovill Manufacturing Co Welding gun
US3594537A (en) * 1968-01-31 1971-07-20 Fritz Morgenegg Angularly adjustable holder for machine-tool bits
US3594534A (en) * 1969-03-21 1971-07-20 Compak O Matic Inc Welding apparatus
US3784782A (en) * 1972-05-16 1974-01-08 M Lochen Welding gun

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4349718A (en) * 1977-04-20 1982-09-14 Bayerische Motoren Werke A.G. Installation for the resistance-welding of structural parts
US4587394A (en) * 1982-09-16 1986-05-06 Bernard Vere Device and method of welding nuclear fuel assembly structural elements
US4559438A (en) * 1982-12-24 1985-12-17 Honda Giken Kogyo Kabushiki Kaisha Welding gun apparatus
US5811750A (en) * 1994-10-07 1998-09-22 Stola S.P.A. Device for welding motor-vehicle bodies or sub-assemblies thereof
CN106181611A (zh) * 2016-08-31 2016-12-07 无锡市德力流体科技有限公司 齿轮轴自动磨加工装备
CN108974918A (zh) * 2018-07-27 2018-12-11 江南大学 一种用于货物搬运的移动机器人

Also Published As

Publication number Publication date
AU6937374A (en) 1975-11-27
SE395633B (sv) 1977-08-22
FR2230450A1 (enrdf_load_stackoverflow) 1974-12-20
DE2338617C3 (enrdf_load_stackoverflow) 1979-03-29
DE2338617B2 (de) 1978-07-20
JPS5020954A (enrdf_load_stackoverflow) 1975-03-05
ES425997A1 (es) 1976-06-16
IT985962B (it) 1974-12-30
GB1468206A (en) 1977-03-23
DE2338617A1 (de) 1974-12-12
CA1006232A (en) 1977-03-01
FR2230450B1 (enrdf_load_stackoverflow) 1978-03-31

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